An Explicit Nonlinear Model Predictive ABS Controller for Electro-Hydraulic Braking Systems

被引：85

作者：

Tavernini, Davide ^{[1
]}

Vacca, Fabio ^{[1
]}

Metzler, Mathias ^{[1
]}

Savitski, Dzmitry ^{[2
]}

Ivanov, Valentin ^{[3
]}

Gruber, Patrick ^{[1
]}

Hartavi, Ahu Ece ^{[1
]}

Dhaens, Miguel ^{[4
]}

Sorniotti, Aldo ^{[1
]}

机构：

[1] Univ Surrey, Guildford GU2 7XH, Surrey, England

[2] Arrival Germany GmbH, D-75179 Pforzheim, Germany

[3] Tech Univ Ilmenau, D-98693 Ilmenau, Germany

[4] Tenneco Automot Europe BVBA, B-3800 St Truiden, Belgium

来源：

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS | 2020年 / 67卷 / 05期

基金：

欧盟地平线“2020”;

关键词：

Antilock braking system (ABS); wheel slip control; explicit nonlinear model predictive control (eNMPC); Hardware-in-the-Loop (HiL); electro-hydraulic braking (EHB) system; WHEEL SLIP CONTROL; DESIGN;

D O I：

10.1109/TIE.2019.2916387

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper addresses the development and Hardware-in-the-Loop (HiL) testing of an explicit nonlinear model predictive controller (eNMPC) for an antilock braking system (ABS) for passenger cars, actuated using an electro-hydraulic braking unit. The control structure includes a compensation strategy to guard against the performance degradation due to actuation dead times, identified by experimental tests. The eNMPC is run on an automotive rapid control prototyping unit, which shows its real-time capability with comfortable margin. A validated high-fidelity vehicle simulation model is used for the assessment of the ABS on a HiL rig equipped with the braking system hardware. The eNMPC is tested in seven emergency braking scenarios, and its performance is benchmarked against a proportional-integral-derivative (PID) controller. The eNMPC results show: 1) the control system robustness with respect to the variations in tire-road friction condition and initial vehicle speed; and 2) consistent and significant improvement of the stopping distance and wheel slip reference tracking, with respect to the vehicle with the PID ABS.

引用

页码：3990 / 4001

页数：12

共 48 条

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